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Raw output: neo_controller.c

+0001: # _____   __           
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 0002: # ___  | / /__________ 
 0003: # __   |/ /_  _ \  __ \
 0004: # _  /|  / /  __/ /_/ /
 0005: # /_/ |_/  \___/\____/ 
 0006: 
 0007: # Kessler Controller
 0008: # Jie Fan (jie.f@pm.me)
 0009: 
 0010: # This controller file needs to be compiled with Cython, into a C extension module to be imported into a Python script
 0011: 
 0012: # TODO: Show stats at the end
 0013: # DONE: Verify that frontrun protection's working (shot stealing protection), because it still feels like it's not totally working!
 0014: # DONE: Make it so during a respawn maneuver, if I'm no longer gonna hit anything, I can begin to shoot!
 0015: # TODO: Use the tolerance in the shot for the target selection so I don't just aim for the center all the time
 0016: # KINDA DONE: Add error handling as a catch-all
 0017: # TODO: Analyze each base state, and store analysis results. Like the heuristic FIS, except use more random search. Density affects the movement speed and cruise timesteps. Tune stuff much better.
 0018: # TODO: Add error checks, so that if Neo thinks its done but there's still asteroids left, it'll realize that and re-ingest the updated state and finish off its job. This should NEVER happen though, but in the 1/1000000 chance a new bug happens during the competition, this would catch it.
 0019: # DONE: Tune gc to maybe speed stuff up
 0020: # DONE: Match collision checks with Kessler, including <= vs <
 0021: # DONE: Add iteration boosting algorithm to do more iterations in critical moments
 0022: # DONE: If we're chilling, have mines and lives, go and do some damage!
 0023: # WON'T FIX: Optimally, the target selection will consider mines blowing up asteroids, and having forecasted asteroids there. But this is a super specific condition and it's very complex to implement correctly, so maybe let's just skip this lol. It's probably not worth spending 50 hours implementing something that will rarely come up, and there's plenty of other asteroids I can shoot, and not just ones coming off of a mine blast.
 0024: # WON'T FIX: Remove unnecessary class attributes such as ship thrust range, asteroid mass, to speed up class creation and copying
 0025: # DONE: Differentiate between my mine and adversary's mine, to know whether to shoot size 1's or not
 0026: # TODO: Mine FIS currently doesn't take into account if an asteroid will ALREADY get hit by a mine, and drop another one anyway
 0027: # DONE: When validating a sim is good when there's another ship, make sure the shots hit! The other ship might have shot those asteroids already.
 0028: # DONE: Try a wider random search for maneuvers
 0029: # KINDA DONE: GA to beat the random maneuver search, and narrow down the search space. In crowded areas, don't cruise for as long, for example!
 0030: # TRIED, not faster: Add per-timestep velocities to asteroids and bullets and stuff to save a multiplication
 0031: # TODO: Revisit the aimbot and improve things more
 0032: # NO NEED TO FIX because Kessler changed it so that it'll wait out the bullet, as long as there's still time remaining: If we're gonna die and we're the only ship left, don't shoot a bullet if it doesn't land before I die, because it'll count as a miss
 0033: # EHH WON'T MAKE THIS CHANGE BECAUSE IT'S KINDA BAD AND COMPLEX: Use math to see how the bullet lines up with the asteroid, to predict whether it's gonna hit before doing the bullet sim
 0034: # DONE: get_next_extrapolated_asteroid_collision_time doesn't handle the edges properly! Collisions can't go through the edge but this can predict that. Do the checks!
 0035: # DONE: Improve targeting during maneuvers to maintain random maneuvers. Each sim should target differently, not just always aim at the closest asteroid! But we need to maintain cohesion in the targets from one iteration to the next, so Neo doesn't switch targets randomly within the sim.
 0036: # PROBABLY NOT WORTH ADDING: Add corner camping hardcoded logic
 0037: # PROBABLY NOT WORTH ADDING: Add closing ring freezing
 0038: 
 0039: 
 0040: # POST-XFC 2024 IMPROVEMENT IDEAS:
 0041: # DONE (I THINK): Make it so that if the other ship steals my shots, I realize sooner and avoid shooting.
 0042: # Currently Neo takes up to 2 planning periods to realize, but if I do a second pass check of the planned actions and make sure all shots land,
 0043: # then I can reduce this down to up to 1 planning period of delay. Neo can be only 96% accurate with a good adversary, so hopefully this can be bumped to like 98%.
 0044: # This is VERY important in scenarios with a bullet limit since a missed shot is a missed point
 0045: 
 0046: # DONE: Inspired by OMUlettes taking out the Fuzzifiers by crashing into them, I want to implement the following hard-coded logic:
 0047: # if the other ship is on its last life and I have at least 2 lives:
 0048: #     SLAM INTO THE OTHER SHIP AND TAKE THEIR LAST LIFE
 0049: 
 0050: # TODO: Improve avoiding shooting size-1 asteroids within the blast radius of my own mine.
 0051: # Currently it avoids targeting these, but it could still accidentally hit such asteroids in the way of their intended target
 0052: 
 0053: # DONE: Improve handling low bullet limits. Currently Neo just kinda chills and doesn't use its remaining mines effectively.
 0054: # Improving its behavior here can help get a bit more score. Even sacrificing lives to get a couple more hits could be a good strat.
 0055: 
 0056: # TODO: Ration mines better. Some scenarios Neo uses them too sparingly, and sometimes it dumps them all at the start, and doesn't have any left to use.
 0057: # The former is a larger issue. If there's only 3 seconds left, Neo can dump a mine and it could get a few more hits at basically zero cost
 0058: # The rationing issue might be solvable by scaling up and down what is considered a good number of asteroids within a blast radius. Currently these are hardcoded.
 0059: 
 0060: # DONE: Print out a build date at the start of each run, so during the competition I can make sure the correct version of my controller is run.
 0061: 
 0062: # WON'T FIX: Remove my training wheels artificial limitation of placing mines 3 seconds apart.
 0063: # I can place them as low as 1 second apart, so removing this might add more strategic options.
 0064: # But this will also give Neo more opportunities to bomb itself, so this is hard to implement well.
 0065: 
 0066: # TODO: Consider the time limit better, and adapt my strategy based on that. Currently it's not considered (other than avoiding shooting a bullet that won't land before the time's up).
 0067: # For example, if there's a very long time limit and I have unlimited bullets, then I probably want to focus on killing the other ship first.
 0068: # Otherwise if there's a short time limit, I shouldn't waste time killing the other ship because even if I do,
 0069: # I don't have time to hit all the asteroids myself, and it's better to just shoot asteroids and trust that I'm gaining score quicker than the other team is able to gain score,
 0070: # or at least I'm no worse than the other team
 0071: 
 0072: # DONE: Investigate why Neo just stayed on top of the mine near the end of the scenario for the closing double rings scenario
 0073: 
 0074: # DONE: Don't place a mine if it can't explode before the time runs out
 0075: 
 0076: # DONE: Dump mines if it can hit stuff right before the end of the scenario
 0077: 
 0078: # DONE: Check for time running out condition to handle stuff like that better
 0079: 
 0080: # cython: language_level=3
 0081: from libc.math cimport sin, cos, sqrt, fabs, atan2, acos, asin, pi, NAN, INFINITY, isnan, isinf, copysign, exp
+0082: from math import ceil, floor
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 0083: from libc.stdint cimport int64_t
 0084: ctypedef double float64_t
+0085: import math
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 0086: cimport cython
 0087: 
 0088: 
 0089: 
 0090: 
+0091: import bisect
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+0092: import gc
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 0100: #from math import acos, asin, atan2, ceil, cos, exp, floor, inf, isinf, isnan, nan, pi, sin, sqrt, copysign
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 0106: #from mypy_extensions import i64
+0107: from skfuzzy import control, trimf  # type: ignore[import-untyped]
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 0108: 
 0109: #from src.kesslergame import KesslerController  # type: ignore[import-untyped]
 0110: #from kesslergame import KesslerController  # type: ignore[import-untyped]
 0111: 
 0112: # IMPORTANT: if multiple scenarios are run back-to-back, this controller doesn't get freshly initialized in the subsequent runs.
 0113: # If any global variables are changed during execution, make sure to reset them when the timestep is 0.
 0114: 
 0115: #BUILD_NUMBER: Final = "2024-06-17 Neo - Jie Fan (jie.f@pm.me)"
 0116: 
 0117: # Output config
+0118: DEBUG_MODE: Final[bool] = False
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+0119: PRINT_EXPLANATIONS: Final[bool] = False
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+0120: EXPLANATION_MESSAGE_SILENCE_INTERVAL_S: Final[float] = 2.0  # Repeated messages within this time window get silenced
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 0121: 
 0122: # These can trade off to get better performance at the expense of safety
 0123: # TRUE FOR COMPETITION, inexpensive
+0124: STATE_CONSISTENCY_CHECK_AND_RECOVERY = True  # Enable this if we want to be able to recover from controller exceptions
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 0125: # TRUE FOR COMPETITION, inexpensive
+0126: CLEAN_UP_STATE_FOR_SUBSEQUENT_SCENARIO_RUNS = True  # If NeoController is only instantiated once and run through multiple scenarios, this must be on!
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 0127: # FALSE FOR COMPETITION, slight performance hit
+0128: ENABLE_SANITY_CHECKS: Final[bool] = False  # Miscellaneous sanity checks throughout the code
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 0129: # TRUE FOR COMPETITION, performance boost
+0130: PRUNE_SIM_STATE_SEQUENCE: Final[bool] = True  # Good to have on, because we don't really need the full state
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 0131: # FALSE FOR COMPETITION, slight performance hit
+0132: VALIDATE_SIMULATED_KEY_STATES: Final[bool] = False  # Check for desyncs between Kessler and Neo's internal simulation of the game
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 0133: # FALSE FOR COMPETITION, major performance hit
+0134: VALIDATE_ALL_SIMULATED_STATES: Final[bool] = False  # Super meticulous check for desyncs. This is very slow! Not recommended, since just verifying the key states will catch desyncs eventually. This is only good for if you need to know exactly when the desync occurred.
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 0135: # FALSE FOR COMPETITION, major performance hit
+0136: VERIFY_AST_TRACKING: Final[bool] = False  # I'm using a very error prone way to track asteroids, where I very easily get the time of the asteroid wrong. This will check to make sure the times aren't mismatched, by checking whether the asteroid we're looking for appears in the wrong timestep.
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 0137: 
+0138: RESEED_RNG: Final[bool] = True # If the random seed was set outside of Neo, this will reseed the RNG to ensure good randomness
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 0139: 
 0140: # Strategic variables
+0141: END_OF_SCENARIO_DONT_CARE_TIMESTEPS: Final[int] = 8
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+0142: ADVERSARY_ROTATION_TIMESTEP_FUDGE: Final[int] = 20  # Since we can't predict the adversary ship, in the targetting frontrun protection, fudge the adversary's ship to be more conservative. Since we predict they don't move, but they could be aiming toward the target.
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 0143: # TODO: Actually wait, doesn't the rotation timestep fudge just need to be 5, because each stationary targetting is just 5 timesteps long? So using 20 may be overkill!
+0144: UNWRAP_ASTEROID_COLLISION_FORECAST_TIME_HORIZON: Final[float] = 8.0
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+0145: UNWRAP_ASTEROID_TARGET_SELECTION_TIME_HORIZON: Final[float] = 2.3 # The upper bound would be sqrt(1000.0**2 + 800.0**2)/800.0 + 1.0 = 2.600781059358212 s, which is 1 second to turn and the rest for bullet travel time. But this is the worst case scenario. In most cases, we don't need this much.
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+0146: ASTEROID_SIZE_SHOT_PRIORITY: Final = (NAN, 1, 2, 3, 4)  # Index i holds the priority of shooting an asteroid of size i (the first element is not important)
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+0147: fitness_function_weights: Optional[tuple[float, float, float, float, float, float, float, float, float]] = None
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+0148: MINE_DROP_COOLDOWN_FUDGE_TS: Final[int] = 61  # We can drop a mine every 30 timesteps. But it's better to wait a bit longer between mines, so then if I drop two and the first one blows me up, I have time to get out of the radius of the second blast!
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+0149: MINE_ASTEROID_COUNT_FUDGE_DISTANCE: Final[float] = 50.0
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+0150: MINE_OPPORTUNITY_CHECK_INTERVAL_TS: Final[int] = 10
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+0151: MINE_OTHER_SHIP_RADIUS_FUDGE: Final[float] = 40.0
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+0153: TARGETING_AIMING_UNDERTURN_ALLOWANCE_DEG: Final[float] = 6.0
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 0154: # (asteroid_safe_time_fitness, mine_safe_time_fitness, asteroids_fitness, sequence_length_fitness, other_ship_proximity_fitness, crash_fitness, asteroid_aiming_cone_fitness, placed_mine_fitness, overall_safe_time_fitness)
 0155: # These fitness weights were picked after doing a ton of training with a genetic optimizer:
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 0173: # The reason we need this, is because without it, I'm checking whether I have the budget to do another iteration, but let's say I'm already taking 0 time. Kessler will pause for DELTA_TIME, taking up all the time, and I'd think I have no time to do anything!
 0174: # So this fudge allows us to "push things" a bit, and fill up any remaining time so that Kessler is no longer pausing, and that time is spent in this controller to do more computations.
 0175: # The side effect is that if we set this multiplier too low, then we're going to be operating at less than real time for sure.
 0176: # Going slightly slower than real time is expected, since we always need to push things to know where that limit is
 0177: # This isn't needed if the realtime multiplier is set to 0 within Kessler, so that Kessler is not unnecessarily pausing and running as fast as it can. But with realtime multiplier at 1, this is needed.
 0178: # If realtime multiplier is set to some wacky value above 1, the game won't speed up and Neo will just use that time to do more iterations! To fix that, we need to change this multiplier to be above 1 too
 0179: # You can kind of think of this as the percentage of real time we're going at. Kinda...
 0180: # Also my logic is that if I always make sure I have enough time, then I’ll actually be within budget. Because say I take 10 time to do something. Well if I have 10 time left, I do it, but anything from 9 to 0 time left, I don’t. So on average, I leave out 10/2 time on the table. So that’s why I set the fudge multiplier to 0.5, so things average out to me being exactly on budget.
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 0184: 
 0185: # For the tuples below, the index is the number of lives Neo has left while going into the move
 0186: # Index 0 in the tuples is not used, but to be safe I put a sane number there
 0187: 
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+0192:                                                          (70, 40, 13), # Fitness from 0.1 to 0.2
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+0193:                                                          (60, 28, 12), # Fitness from 0.2 to 0.3
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+0194:                                                          (50, 26, 11), # Fitness from 0.3 to 0.4
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+0195:                                                          (45, 14, 10), # Fitness from 0.4 to 0.5
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+0196:                                                          (16, 12, 9), # Fitness from 0.5 to 0.6
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+0197:                                                          (15, 11, 8), # Fitness from 0.6 to 0.7
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+0198:                                                          (14, 10, 7), # Fitness from 0.7 to 0.8
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+0199:                                                          (13, 9, 6), # Fitness from 0.8 to 0.9
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+0200:                                                          (12, 8, 5)) # Fitness from 0.9 to 1.0
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+0202:                                                        (950, 810, 430), # Fitness from 0.1 to 0.2
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+0203:                                                        (925, 780, 420), # Fitness from 0.2 to 0.3
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+0204:                                                        (900, 730, 410), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[75] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_900, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_410); if (unlikely(!__pyx_mstate_global->__pyx_tuple[75])) __PYX_ERR(0, 204, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[75]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[75]);
+0205:                                                        (850, 715, 400), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[76] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_850, __pyx_mstate_global->__pyx_int_715, __pyx_mstate_global->__pyx_int_400); if (unlikely(!__pyx_mstate_global->__pyx_tuple[76])) __PYX_ERR(0, 205, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[76]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[76]);
+0206:                                                        (815, 680, 390), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[77] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_815, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_390); if (unlikely(!__pyx_mstate_global->__pyx_tuple[77])) __PYX_ERR(0, 206, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[77]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[77]);
+0207:                                                        (790, 660, 380), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[78] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_790, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_380); if (unlikely(!__pyx_mstate_global->__pyx_tuple[78])) __PYX_ERR(0, 207, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[78]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[78]);
+0208:                                                        (760, 640, 370), # Fitness from 0.7 to 0.8
  __pyx_mstate_global->__pyx_tuple[79] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_760, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_370); if (unlikely(!__pyx_mstate_global->__pyx_tuple[79])) __PYX_ERR(0, 208, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[79]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[79]);
+0209:                                                        (730, 620, 360), # Fitness from 0.8 to 0.9
  __pyx_mstate_global->__pyx_tuple[80] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_360); if (unlikely(!__pyx_mstate_global->__pyx_tuple[80])) __PYX_ERR(0, 209, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[80]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[80]);
+0210:                                                        (700, 600, 350)) # Fitness from 0.9 to 1.0
  __pyx_mstate_global->__pyx_tuple[81] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_700, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_350); if (unlikely(!__pyx_mstate_global->__pyx_tuple[81])) __PYX_ERR(0, 210, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[81]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[81]);
+0211: MIN_MANEUVER_PER_TIMESTEP_SEARCH_ITERATIONS_LUT: Final = ((85, 65, 30), # Fitness from 0.0 to 0.1
  __pyx_mstate_global->__pyx_tuple[83] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_85, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_30); if (unlikely(!__pyx_mstate_global->__pyx_tuple[83])) __PYX_ERR(0, 211, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[83]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[83]);
/* … */
  if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_TIMESTEP_SEARCH, __pyx_mstate_global->__pyx_tuple[93]) < 0) __PYX_ERR(0, 211, __pyx_L1_error)
/* … */
  __pyx_mstate_global->__pyx_tuple[93] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[83], __pyx_mstate_global->__pyx_tuple[84], __pyx_mstate_global->__pyx_tuple[85], __pyx_mstate_global->__pyx_tuple[86], __pyx_mstate_global->__pyx_tuple[87], __pyx_mstate_global->__pyx_tuple[88], __pyx_mstate_global->__pyx_tuple[89], __pyx_mstate_global->__pyx_tuple[90], __pyx_mstate_global->__pyx_tuple[91], __pyx_mstate_global->__pyx_tuple[92]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[93])) __PYX_ERR(0, 211, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[93]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[93]);
+0212:                                                           (65, 52, 25), # Fitness from 0.1 to 0.2
  __pyx_mstate_global->__pyx_tuple[84] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_52, __pyx_mstate_global->__pyx_int_25); if (unlikely(!__pyx_mstate_global->__pyx_tuple[84])) __PYX_ERR(0, 212, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[84]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[84]);
+0213:                                                           (55, 40, 20), # Fitness from 0.2 to 0.3
  __pyx_mstate_global->__pyx_tuple[85] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_55, __pyx_mstate_global->__pyx_int_40, __pyx_mstate_global->__pyx_int_20); if (unlikely(!__pyx_mstate_global->__pyx_tuple[85])) __PYX_ERR(0, 213, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[85]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[85]);
+0214:                                                           (45, 25, 15), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[86] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_45, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_15); if (unlikely(!__pyx_mstate_global->__pyx_tuple[86])) __PYX_ERR(0, 214, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[86]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[86]);
+0215:                                                           (25, 12, 9), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[87] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_9); if (unlikely(!__pyx_mstate_global->__pyx_tuple[87])) __PYX_ERR(0, 215, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[87]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[87]);
+0216:                                                           (20, 9, 6), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[88] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_20, __pyx_mstate_global->__pyx_int_9, __pyx_mstate_global->__pyx_int_6); if (unlikely(!__pyx_mstate_global->__pyx_tuple[88])) __PYX_ERR(0, 216, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[88]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[88]);
+0217:                                                           (14, 7, 5), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[89] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_5); if (unlikely(!__pyx_mstate_global->__pyx_tuple[89])) __PYX_ERR(0, 217, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[89]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[89]);
+0218:                                                           (8, 5, 4), # Fitness from 0.7 to 0.8
  __pyx_mstate_global->__pyx_tuple[90] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_8, __pyx_mstate_global->__pyx_int_5, __pyx_mstate_global->__pyx_int_4); if (unlikely(!__pyx_mstate_global->__pyx_tuple[90])) __PYX_ERR(0, 218, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[90]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[90]);
+0219:                                                           (7, 4, 3), # Fitness from 0.8 to 0.9
  __pyx_mstate_global->__pyx_tuple[91] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_4, __pyx_mstate_global->__pyx_int_3); if (unlikely(!__pyx_mstate_global->__pyx_tuple[91])) __PYX_ERR(0, 219, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[91]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[91]);
+0220:                                                           (6, 3, 2)) # Fitness from 0.9 to 1.0
  __pyx_mstate_global->__pyx_tuple[92] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_6, __pyx_mstate_global->__pyx_int_3, __pyx_mstate_global->__pyx_int_2); if (unlikely(!__pyx_mstate_global->__pyx_tuple[92])) __PYX_ERR(0, 220, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[92]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[92]);
+0221: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_LUT = ((300, 230, 105), # Fitness from 0.0 to 0.1
  __pyx_mstate_global->__pyx_tuple[94] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_300, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_105); if (unlikely(!__pyx_mstate_global->__pyx_tuple[94])) __PYX_ERR(0, 221, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[94]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[94]);
/* … */
  if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I, __pyx_mstate_global->__pyx_tuple[104]) < 0) __PYX_ERR(0, 221, __pyx_L1_error)
/* … */
  __pyx_mstate_global->__pyx_tuple[104] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[94], __pyx_mstate_global->__pyx_tuple[95], __pyx_mstate_global->__pyx_tuple[96], __pyx_mstate_global->__pyx_tuple[97], __pyx_mstate_global->__pyx_tuple[98], __pyx_mstate_global->__pyx_tuple[99], __pyx_mstate_global->__pyx_tuple[100], __pyx_mstate_global->__pyx_tuple[101], __pyx_mstate_global->__pyx_tuple[102], __pyx_mstate_global->__pyx_tuple[103]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[104])) __PYX_ERR(0, 221, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[104]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[104]);
+0222:                                                  (230, 185, 88), # Fitness from 0.1 to 0.2
  __pyx_mstate_global->__pyx_tuple[95] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_185, __pyx_mstate_global->__pyx_int_88); if (unlikely(!__pyx_mstate_global->__pyx_tuple[95])) __PYX_ERR(0, 222, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[95]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[95]);
+0223:                                                  (193, 140, 70), # Fitness from 0.2 to 0.3
  __pyx_mstate_global->__pyx_tuple[96] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_193, __pyx_mstate_global->__pyx_int_140, __pyx_mstate_global->__pyx_int_70); if (unlikely(!__pyx_mstate_global->__pyx_tuple[96])) __PYX_ERR(0, 223, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[96]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[96]);
+0224:                                                  (160, 88, 55), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[97] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_160, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_55); if (unlikely(!__pyx_mstate_global->__pyx_tuple[97])) __PYX_ERR(0, 224, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[97]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[97]);
+0225:                                                  (88, 42, 32), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[98] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_42, __pyx_mstate_global->__pyx_int_32); if (unlikely(!__pyx_mstate_global->__pyx_tuple[98])) __PYX_ERR(0, 225, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[98]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[98]);
+0226:                                                  (56, 28, 21), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[99] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_56, __pyx_mstate_global->__pyx_int_28, __pyx_mstate_global->__pyx_int_21); if (unlikely(!__pyx_mstate_global->__pyx_tuple[99])) __PYX_ERR(0, 226, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[99]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[99]);
+0227:                                                  (35, 25, 18), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[100] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_35, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18); if (unlikely(!__pyx_mstate_global->__pyx_tuple[100])) __PYX_ERR(0, 227, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[100]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[100]);
+0228:                                                  (25, 18, 14), # Fitness from 0.7 to 0.8
  __pyx_mstate_global->__pyx_tuple[101] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18, __pyx_mstate_global->__pyx_int_14); if (unlikely(!__pyx_mstate_global->__pyx_tuple[101])) __PYX_ERR(0, 228, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[101]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[101]);
+0229:                                                  (14, 11, 10), # Fitness from 0.8 to 0.9
  __pyx_mstate_global->__pyx_tuple[102] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_10); if (unlikely(!__pyx_mstate_global->__pyx_tuple[102])) __PYX_ERR(0, 229, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[102]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[102]);
+0230:                                                  (11, 11, 7)) # Fitness from 0.9 to 1.0
  __pyx_mstate_global->__pyx_tuple[103] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_7); if (unlikely(!__pyx_mstate_global->__pyx_tuple[103])) __PYX_ERR(0, 230, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[103]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[103]);
+0231: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_IF_WILL_DIE_LUT = ((860, 680, 340), # Fitness from 0.0 to 0.1
  __pyx_mstate_global->__pyx_tuple[105] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_860, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_340); if (unlikely(!__pyx_mstate_global->__pyx_tuple[105])) __PYX_ERR(0, 231, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[105]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[105]);
/* … */
  if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I_2, __pyx_mstate_global->__pyx_tuple[115]) < 0) __PYX_ERR(0, 231, __pyx_L1_error)
/* … */
  __pyx_mstate_global->__pyx_tuple[115] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[105], __pyx_mstate_global->__pyx_tuple[106], __pyx_mstate_global->__pyx_tuple[107], __pyx_mstate_global->__pyx_tuple[108], __pyx_mstate_global->__pyx_tuple[109], __pyx_mstate_global->__pyx_tuple[110], __pyx_mstate_global->__pyx_tuple[111], __pyx_mstate_global->__pyx_tuple[112], __pyx_mstate_global->__pyx_tuple[113], __pyx_mstate_global->__pyx_tuple[114]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[115])) __PYX_ERR(0, 231, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[115]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[115]);
+0232:                                                              (830, 660, 330), # Fitness from 0.1 to 0.2
  __pyx_mstate_global->__pyx_tuple[106] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_830, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_330); if (unlikely(!__pyx_mstate_global->__pyx_tuple[106])) __PYX_ERR(0, 232, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[106]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[106]);
+0233:                                                              (800, 640, 320), # Fitness from 0.2 to 0.3
  __pyx_mstate_global->__pyx_tuple[107] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_800, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_320); if (unlikely(!__pyx_mstate_global->__pyx_tuple[107])) __PYX_ERR(0, 233, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[107]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[107]);
+0234:                                                              (770, 620, 310), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[108] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_770, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_310); if (unlikely(!__pyx_mstate_global->__pyx_tuple[108])) __PYX_ERR(0, 234, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[108]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[108]);
+0235:                                                              (740, 600, 300), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[109] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_740, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_300); if (unlikely(!__pyx_mstate_global->__pyx_tuple[109])) __PYX_ERR(0, 235, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[109]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[109]);
+0236:                                                              (710, 580, 290), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[110] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_710, __pyx_mstate_global->__pyx_int_580, __pyx_mstate_global->__pyx_int_290); if (unlikely(!__pyx_mstate_global->__pyx_tuple[110])) __PYX_ERR(0, 236, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[110]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[110]);
+0237:                                                              (690, 560, 280), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[111] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_690, __pyx_mstate_global->__pyx_int_560, __pyx_mstate_global->__pyx_int_280); if (unlikely(!__pyx_mstate_global->__pyx_tuple[111])) __PYX_ERR(0, 237, __pyx_L1_error)
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  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[111]);
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 0242: # State dumping for debug
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 0257: # Debug settings
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 0261: # Quantities
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 0515: 
 0516: '''
 0517: class Ship:
 0518:     __slots__ = ('is_respawning', 'position', 'velocity', 'speed', 'heading', 'mass', 'radius', 'id', 'team', 'lives_remaining', 'bullets_remaining', 'mines_remaining', 'can_fire', 'fire_rate', 'can_deploy_mine', 'mine_deploy_rate', 'thrust_range', 'turn_rate_range', 'max_speed', 'drag')
 0519: 
 0520:     def __init__(self, is_respawning: bool = False, position: tuple[float, float] = (0.0, 0.0), velocity: tuple[float, float] = (0.0, 0.0), speed: float = 0.0, heading: float = 0.0, mass: float = 0.0, radius: float = 0.0, id: int = 0, team: str = '', lives_remaining: int = 0, bullets_remaining: int = 0, mines_remaining: int = 0, can_fire: bool = True, fire_rate: float = 0.0, can_deploy_mine: bool = True, mine_deploy_rate: float = 0.0, thrust_range: tuple[float, float] = (-SHIP_MAX_THRUST, SHIP_MAX_THRUST), turn_rate_range: tuple[float, float] = (-SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE), max_speed: float = SHIP_MAX_SPEED, drag: float = SHIP_DRAG) -> None:
 0521:         self.is_respawning = is_respawning
 0522:         self.position = position
 0523:         self.velocity = velocity
 0524:         self.speed = speed
 0525:         self.heading = heading
 0526:         self.mass = mass
 0527:         self.radius = radius
 0528:         self.id = id
 0529:         self.team = team
 0530:         self.lives_remaining = lives_remaining
 0531:         self.bullets_remaining = bullets_remaining
 0532:         self.mines_remaining = mines_remaining
 0533:         self.can_fire = can_fire
 0534:         self.fire_rate = fire_rate
 0535:         self.can_deploy_mine = can_deploy_mine
 0536:         self.mine_deploy_rate = mine_deploy_rate
 0537:         self.thrust_range = thrust_range
 0538:         self.turn_rate_range = turn_rate_range
 0539:         self.max_speed = max_speed
 0540:         self.drag = drag
 0541: 
 0542:     def __str__(self) -> str:
 0543:         return f'Ship(is_respawning={self.is_respawning}, position={self.position}, velocity={self.velocity}, speed={self.speed}, heading={self.heading}, mass={self.mass}, radius={self.radius}, id={self.id}, team="{self.team}", lives_remaining={self.lives_remaining}, bullets_remaining={self.bullets_remaining}, mines_remaining={self.mines_remaining}, can_fire={self.can_fire}, fire_rate={self.fire_rate}, can_deploy_mine={self.can_deploy_mine}, mine_deploy_rate={self.mine_deploy_rate}, thrust_range={self.thrust_range}, turn_rate_range={self.turn_rate_range}, max_speed={self.max_speed}, drag={self.drag})'
 0544: 
 0545:     def __repr__(self) -> str:
 0546:         return self.__str__()
 0547: 
 0548:     def copy(self) -> 'Ship':
 0549:         return Ship(
 0550:             is_respawning=self.is_respawning,
 0551:             position=self.position,
 0552:             velocity=self.velocity,
 0553:             speed=self.speed,
 0554:             heading=self.heading,
 0555:             mass=self.mass,
 0556:             radius=self.radius,
 0557:             id=self.id,
 0558:             team=self.team,
 0559:             lives_remaining=self.lives_remaining,
 0560:             bullets_remaining=self.bullets_remaining,
 0561:             mines_remaining=self.mines_remaining,
 0562:             can_fire=self.can_fire,
 0563:             fire_rate=self.fire_rate,
 0564:             can_deploy_mine=self.can_deploy_mine,
 0565:             mine_deploy_rate=self.mine_deploy_rate,
 0566:             thrust_range=self.thrust_range,
 0567:             turn_rate_range=self.turn_rate_range,
 0568:             max_speed=self.max_speed,
 0569:             drag=self.drag
 0570:         )
 0571: 
 0572:     def __eq__(self, other: object) -> bool:
 0573:         if not isinstance(other, Ship):
 0574:             return NotImplemented
 0575:         return (self.is_respawning == other.is_respawning and
 0576:                 self.position == other.position and
 0577:                 self.velocity == other.velocity and
 0578:                 self.speed == other.speed and
 0579:                 self.heading == other.heading and
 0580:                 self.mass == other.mass and
 0581:                 self.radius == other.radius and
 0582:                 self.id == other.id and
 0583:                 self.team == other.team and
 0584:                 self.lives_remaining == other.lives_remaining and
 0585:                 self.bullets_remaining == other.bullets_remaining and
 0586:                 self.mines_remaining == other.mines_remaining and
 0587:                 #self.can_fire == other.can_fire and
 0588:                 self.fire_rate == other.fire_rate and
 0589:                 #self.can_deploy_mine == other.can_deploy_mine and
 0590:                 self.mine_deploy_rate == other.mine_deploy_rate and
 0591:                 self.thrust_range == other.thrust_range and
 0592:                 self.turn_rate_range == other.turn_rate_range and
 0593:                 self.max_speed == other.max_speed and
 0594:                 self.drag == other.drag)
 0595: '''
 0596: 
 0597: '''
 0598: class Mine:
 0599:     __slots__ = ('position', 'mass', 'fuse_time', 'remaining_time')
 0600: 
 0601:     def __init__(self, position: tuple[float, float] = (0.0, 0.0), mass: float = 0.0, fuse_time: float = 0.0, remaining_time: float = 0.0) -> None:
 0602:         self.position = position
 0603:         self.mass = mass
 0604:         self.fuse_time = fuse_time
 0605:         self.remaining_time = remaining_time
 0606: 
 0607:     def __str__(self) -> str:
 0608:         return f'Mine(position={self.position}, mass={self.mass}, fuse_time={self.fuse_time}, remaining_time={self.remaining_time})'
 0609: 
 0610:     def __repr__(self) -> str:
 0611:         return self.__str__()
 0612: 
 0613:     def copy(self) -> 'Mine':
 0614:         return Mine(
 0615:             position=self.position,
 0616:             mass=self.mass,
 0617:             fuse_time=self.fuse_time,
 0618:             remaining_time=self.remaining_time
 0619:         )
 0620: 
 0621:     def __eq__(self, other: object) -> bool:
 0622:         if not isinstance(other, Mine):
 0623:             return NotImplemented
 0624:         return (self.position == other.position and
 0625:                 self.mass == other.mass and
 0626:                 self.fuse_time == other.fuse_time and
 0627:                 self.remaining_time == other.remaining_time)
 0628: '''
 0629: 
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 0733: '''
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 0759:             mines=[mine.copy() for mine in self.mines], 
 0760:             map_size=self.map_size, 
 0761:             time=self.time, 
 0762:             delta_time=self.delta_time, 
 0763:             sim_frame=self.sim_frame,
 0764:             time_limit=self.time_limit
 0765:         )
 0766:     
 0767:     def __eq__(self, other: object) -> bool:
 0768:         if not isinstance(other, GameState):
 0769:             return NotImplemented
 0770:         
 0771:         # Compare asteroids
 0772:         if len(self.asteroids) != len(other.asteroids):
 0773:             print("Asteroids lists are different lengths!")
 0774:             return False
 0775:         for i, (ast_a, ast_b) in enumerate(zip(self.asteroids, other.asteroids)):
 0776:             if ast_a != ast_b:
 0777:                 print(f"Asteroids don't match at index {i}: {ast_a} vs {ast_b}")
 0778:                 return False
 0779:         
 0780:         # Compare bullets
 0781:         if len(self.bullets) != len(other.bullets):
 0782:             print("Bullet lists are different lengths!")
 0783:             return False
 0784:         for i, (bul_a, bul_b) in enumerate(zip(self.bullets, other.bullets)):
 0785:             if bul_a != bul_b:
 0786:                 print(f"Bullets don't match at index {i}: {bul_a} vs {bul_b}")
 0787:                 return False
 0788:         
 0789:         # Compare mines
 0790:         if len(self.mines) != len(other.mines):
 0791:             print("Mine lists are different lengths!")
 0792:             return False
 0793:         for i, (mine_a, mine_b) in enumerate(zip(self.mines, other.mines)):
 0794:             if mine_a != mine_b:
 0795:                 print(f"Mines don't match at index {i}: {mine_a} vs {mine_b}")
 0796:                 return False
 0797:         
 0798:         # Compare ships
 0799:         #if len(self.ships) != len(other.ships):
 0800:         #    print("Ships lists are different lengths!")
 0801:         #    return False
 0802:         #for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
 0803:         #    if ship_a != ship_b:
 0804:         #        print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}")
 0805:         #        return False
 0806:         
 0807:         # Trivial properties like timesteps are not compared, assuming they don't affect game state equality
 0808:         return True
 0809: '''
 0810: 
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 0850:         #if len(self.ships) != len(other.ships): print("Ships lists are different lengths!"); return False
 0851:         #for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
 0852:         #    if ship_a != ship_b: print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}"); return False
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 0855: '''
 0856: class Target:
 0857:     __slots__ = ('asteroid', 'feasible', 'shooting_angle_error_deg', 'aiming_timesteps_required', 'interception_time_s', 'intercept_x', 'intercept_y', 'asteroid_dist_during_interception', 'imminent_collision_time_s', 'asteroid_will_get_hit_by_my_mine', 'asteroid_will_get_hit_by_their_mine')
 0858: 
 0859:     def __init__(self, asteroid: Asteroid, feasible: bool = False, shooting_angle_error_deg: float = 0.0, aiming_timesteps_required: int = 0, interception_time_s: float = 0.0, intercept_x: float = 0.0, intercept_y: float = 0.0, asteroid_dist_during_interception: float = 0.0, imminent_collision_time_s: float = 0.0, asteroid_will_get_hit_by_my_mine: bool = False, asteroid_will_get_hit_by_their_mine: bool = False) -> None:
 0860:         self.asteroid = asteroid
 0861:         self.feasible = feasible
 0862:         self.shooting_angle_error_deg = shooting_angle_error_deg
 0863:         self.aiming_timesteps_required = aiming_timesteps_required
 0864:         self.interception_time_s = interception_time_s
 0865:         self.intercept_x = intercept_x
 0866:         self.intercept_y = intercept_y
 0867:         self.asteroid_dist_during_interception = asteroid_dist_during_interception
 0868:         self.imminent_collision_time_s = imminent_collision_time_s
 0869:         self.asteroid_will_get_hit_by_my_mine = asteroid_will_get_hit_by_my_mine
 0870:         self.asteroid_will_get_hit_by_their_mine = asteroid_will_get_hit_by_their_mine
 0871: 
 0872:     def __str__(self) -> str:
 0873:         return f'Target(asteroid={self.asteroid}, feasible={self.feasible}, shooting_angle_error_deg={self.shooting_angle_error_deg}, aiming_timesteps_required={self.aiming_timesteps_required}, interception_time_s={self.interception_time_s}, intercept_x={self.intercept_x}, intercept_y={self.intercept_y}, asteroid_dist_during_interception={self.asteroid_dist_during_interception}, imminent_collision_time_s={self.imminent_collision_time_s}, asteroid_will_get_hit_by_my_mine={self.asteroid_will_get_hit_by_my_mine}, asteroid_will_get_hit_by_their_mine={self.asteroid_will_get_hit_by_their_mine})'
 0874: 
 0875:     def __repr__(self) -> str:
 0876:         return self.__str__()
 0877: 
 0878:     def copy(self) -> 'Target':
 0879:         return Target(
 0880:             asteroid=self.asteroid.copy(), 
 0881:             feasible=self.feasible, 
 0882:             shooting_angle_error_deg=self.shooting_angle_error_deg, 
 0883:             aiming_timesteps_required=self.aiming_timesteps_required, 
 0884:             interception_time_s=self.interception_time_s, 
 0885:             intercept_x=self.intercept_x, 
 0886:             intercept_y=self.intercept_y, 
 0887:             asteroid_dist_during_interception=self.asteroid_dist_during_interception, 
 0888:             imminent_collision_time_s=self.imminent_collision_time_s, 
 0889:             asteroid_will_get_hit_by_my_mine=self.asteroid_will_get_hit_by_my_mine,
 0890:             asteroid_will_get_hit_by_their_mine=self.asteroid_will_get_hit_by_their_mine
 0891:         )
 0892: '''
 0893: 
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/* … */
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 1297: 
 1298:     # Determine the input for the approximation based on |y| and |x|
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 1306:     # Calculate the atan approximation
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 1310:     # Adjust the result based on the original input quadrant
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/* … */
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/* … */
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 1316: 
 1317:     # Adjust for the correct quadrant
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/* … */
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/* … */
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 1323: 
+1324:     return atan_result
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 1325: 
 1326: 
+1327: def fast_atan2(y: float, x: float) -> float:
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PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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 1328:     # Coefficients for the atan approximation
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 1330:     # Handle edge cases for 0 inputs
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/* … */
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 1334:         else:
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/* … */
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/* … */
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 1339:         else:
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 1341: 
 1342:     # Determine the input for the approximation based on |y| and |x|
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/* … */
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 1350:     # Calculate the atan approximation
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 1353: 
 1354:     # Adjust the result based on the original input quadrant
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/* … */
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 1358:         else:
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 1360: 
 1361:     # Adjust for the correct quadrant
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/* … */
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/* … */
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+1364:             atan_result += pi
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 1365:         else:
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 1367: 
+1368:     return atan_result
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 1369: 
 1370: 
+1371: def heading_diff_within_threshold(a_vec_theta_rad: float, b_vec_x: float, b_vec_y: float, cos_threshold: float) -> bool:
/* Python wrapper */
static PyObject *__pyx_pw_14neo_controller_29heading_diff_within_threshold(PyObject *__pyx_self, 
#if CYTHON_METH_FASTCALL
PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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PyObject *__pyx_args, PyObject *__pyx_kwds
#endif
); /*proto*/
PyDoc_STRVAR(__pyx_doc_14neo_controller_28heading_diff_within_threshold, "a and b are direction vectors. This checks whether the absolute heading difference between them are within a threshold angle.");
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#if CYTHON_METH_FASTCALL
PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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PyObject *__pyx_args, PyObject *__pyx_kwds
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) {
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  double __pyx_v_b_vec_x;
  double __pyx_v_b_vec_y;
  double __pyx_v_cos_threshold;
  #if !CYTHON_METH_FASTCALL
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PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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); /*proto*/
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PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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PyObject *__pyx_args, PyObject *__pyx_kwds
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) {
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  double __pyx_v_ship_vel_y;
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  double __pyx_v_ast_vel_y;
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 2411: # It helps a bit to LRU cache this... but we're doing a global asteroids cache already so it's fine
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 2432:     # print(f"x crossing times: {x_crossings_times}")
 2433:     # Calculate crossing times for y (if vy is not zero)
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 2436:         # Calculate time to first y-boundary crossing based on direction of vy
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 2442:         # Add additional crossings until time c is reached
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 2520:     # The idea is to track which universes the asteroid visits from t=t_0 until t=t_0 + time_horizon_s.
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/* … */
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 3044:             # Update the estimate using Halley's method
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 3260:     # global asteroid_new_track_total_time
 3261:     #start_time = time.perf_counter()
 3262:     # This assumes all asteroids are wrapped/within the game bounds!
 3263:     # print(f"Checking pending shots for timestep {current_timestep}")
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 3320:         #return asteroid.copy()
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 3334:     # Has fitness function to evaluate the set of moves, along with the end state
 3335:     # Can then extract the maneuver along with the future state, to execute the maneuver, and begin planning based on the future state before we actually get there
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 3655:                 # But say we have case A where I do a maneuver and don’t shoot the asteroids.
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 3797:         # if not isinf(next_extrapolated_asteroid_collision_time_before_mines_blew_up):
 3798:         #    print(f"Next extrap time before mines: {next_extrapolated_asteroid_collision_time_before_mines_blew_up}, and after mines: {next_extrapolated_asteroid_collision_time}, and we waited this many ts for mines to blow up: {additional_timesteps_to_blow_up_mines} which is {additional_timesteps_to_blow_up_mines*DELTA_TIME}s")
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 3815:             # Stationary targeting or respawn maneuver
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 3823: 
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+3827:         crash_fitness = get_crash_fitness()
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/* … */
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 3830:             #if mine_safe_time_fitness > 0.8:
 3831:             #    placed_mine_fitness = 1.0
 3832:             #else:
 3833:             #    placed_mine_fitness = 0.5
+3834:             if self.ship_state.lives_remaining >= 3:
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    __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_9, __pyx_mstate_global->__pyx_n_u_lives_remaining); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3834, __pyx_L1_error)
    __Pyx_GOTREF(__pyx_t_10);
    __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
    __pyx_t_9 = PyObject_RichCompare(__pyx_t_10, __pyx_mstate_global->__pyx_int_3, Py_GE); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3834, __pyx_L1_error)
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/* … */
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+3835:                 placed_mine_fitness = 1.0
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      __pyx_v_placed_mine_fitness = __pyx_mstate_global->__pyx_float_1_0;
 3836:             else:
+3837:                 placed_mine_fitness = mine_safe_time_fitness
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 3838:         else:
+3839:             placed_mine_fitness = 0.0
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 3840: 
 3841:         # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}")
 3842:         # self.explanation_messages.append(f"Fitness: {asteroid_safe_time_score + mine_safe_time_score + asteroids_score + sequence_length_score + displacement_score}, Ast safe time score: {asteroid_safe_time_score} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_score}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_score}, sequence length score: {sequence_length_score}, displacement score: {displacement_score}, other ship prox score: {other_ship_proximity_score}")
 3843:         # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_fitness}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}, crash_score: {crash_fitness}")
+3844:         if asteroid_safe_time_fitness < 0.1:
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/* … */
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+3845:             self.safety_messages.append(f"I'm dangerously close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
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+3846:         elif asteroid_safe_time_fitness < 0.4:
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/* … */
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+3847:             self.safety_messages.append(f"I'm close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s).")
    __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3847, __pyx_L1_error)
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+3848:         elif asteroid_safe_time_fitness < 0.8:
  __pyx_t_10 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_8, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3848, __pyx_L1_error)
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/* … */
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+3849:             self.safety_messages.append(f"I'll eventually get hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Keeping my eye out for a dodge maneuver.")
    __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3849, __pyx_L1_error)
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    __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_ll_eventually_get_hit_by_aster;
    __pyx_t_20[1] = __pyx_t_6;
    __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Keeping_my_eye_out_for_a_dodge;
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 3850: 
+3851:         if mine_safe_time_fitness < 0.1:
  __pyx_t_9 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_1, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3851, __pyx_L1_error)
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/* … */
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+3852:             self.safety_messages.append(f"I'm dangerously close to being kablooied by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
    __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3852, __pyx_L1_error)
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    __pyx_t_10 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_mine_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3852, __pyx_L1_error)
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    __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_being_k;
    __pyx_t_20[1] = __pyx_t_10;
    __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Trying_my_hardest_to_maneuver;
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+3853:         elif mine_safe_time_fitness < 0.4:
  __pyx_t_6 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_4, Py_LT); __Pyx_XGOTREF(__pyx_t_6); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3853, __pyx_L1_error)
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/* … */
    goto __pyx_L48;
  }
+3854:             self.safety_messages.append(f"I'm close to being boomed by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s).")
    __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3854, __pyx_L1_error)
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    __pyx_t_20[1] = __pyx_t_9;
    __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s;
    __pyx_t_10 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 55 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_9) + 3, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_9));
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+3855:         elif mine_safe_time_fitness < 0.9:
  __pyx_t_10 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_9, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3855, __pyx_L1_error)
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/* … */
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  __pyx_L48:;
+3856:             self.safety_messages.append(f"I'm within the radius of a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s).")
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    __pyx_t_20[1] = __pyx_t_6;
    __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s;
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 3857: 
+3858:         if other_ship_proximity_fitness < 0.2:
  __pyx_t_9 = PyObject_RichCompare(__pyx_v_other_ship_proximity_fitness, __pyx_mstate_global->__pyx_float_0_2, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3858, __pyx_L1_error)
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  if (__pyx_t_2) {
/* … */
    goto __pyx_L49;
  }
+3859:             self.safety_messages.append("I'm dangerously close to the other ship. Get away from me!")
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    __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_9, __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_the_oth); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3859, __pyx_L1_error)
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+3860:         elif other_ship_proximity_fitness < 0.5:
  __pyx_t_9 = PyObject_RichCompare(__pyx_v_other_ship_proximity_fitness, __pyx_mstate_global->__pyx_float_0_5, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3860, __pyx_L1_error)
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/* … */
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  __pyx_L49:;
+3861:             self.safety_messages.append("I'm near the other ship. Being cautious.")
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 3862: 
 3863:         # Use fuzzy "AND" by averaging the fuzzy outputs
+3864:         if ENABLE_SANITY_CHECKS:  # REMOVE_FOR_COMPETITION
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 3932:             '''
 3933:             Uses the bullet sim to check whether we'll hit a target, and which target we end up hitting since we might hit an asteroid in front of our intended target
 3934:             target_asteroid_original: Our target asteroid
 3935:             target_asteroid_shooting_angle_error_deg: The amount in degrees the ship needs to turn to be able to shoot the target
 3936:             target_asteroid_interception_time_s: The time in seconds between firing and hitting the center of the target. The turning time is not included!
 3937:             target_asteroid_turning_timesteps: The number of timesteps we need to turn for before shooting. Well, we might require fewer timesteps than this, but this is the prescribed number of timesteps we must wait out until we shoot, to be able to hit our target.
 3938:             '''
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 3940:             # Just because we're lined up for a shot doesn't mean our shot will hit, unfortunately.
 3941:             # Bullets and asteroids travel in discrete timesteps, and it's possible for the bullet to miss the asteroid hitbox between timesteps, where the interception would have occurred on an intermediate timestep.
 3942:             # This is unavoidable, and we just have to choose targets that don't do this.
 3943:             # If the asteroids are moving slow enough, this should be rare, but especially if small asteroids are moving very quickly, this issue is common.
 3944:             # A simulation will easily show whether this will happen or not
 3945:             # debug_print(f"The last timestep fired is {self.last_timestep_fired}")
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 4090:         # So it only plans one shot at a time instead of a series of shots, and it’ll keep things simpler
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 4099:             # debug_print(f"Shooting at most imminent asteroids. Most imminent collision time is {most_imminent_collision_time_s}s with turn angle error {most_imminent_asteroid_shooting_angle_error_deg}")
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 4171:                             # We're underturning too much, so instead find the next overturn
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 4177:                         # debug_print(target)
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 4185:                         #    print(f"DANG IT, we're shooting something on the way to the most imminent asteroid, but we'll miss this particular one!")
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 4256:                     #self.explanation_messages.append(f"In this scenario, I have simulated {total_sim_timesteps*DELTA_TIME/60:0.0f} minutes of gameplay! Bullet sim took {bullet_sim_time} s and the sim update took {sim_update_total_time} s with the sim culling taking {sim_cull_total_time} s, unwrapping taking {unwrap_total_time} s, and culling asteroids_pending_death is {asteroids_pending_death_total_cull_time} s, {asteroid_tracking_total_time=}, {asteroid_new_track_total_time=}")
 4257:                     #self.explanation_messages.append(f"In this scenario, I have simulated {float(total_sim_timesteps)*DELTA_TIME/60:0.0f} minutes of gameplay!")
 4258:                     #self.explanation_messages.append(f"We simulated {total_bullet_sim_timesteps} bullet sim timesteps and {total_bullet_sim_iterations} iterations, and {total_sim_timesteps} timesteps, and {update_ts_multiple_count=} {update_ts_zero_count=}")
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 4261:                 # We still simulate one iteration of this, because if we had a pending shot from before, this will do the shot!
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 4265: 
 4266:         # debug_print('Closest ang asteroid:')
 4267:         # debug_print(target_asteroids_list[least_angular_distance_asteroid_index])
 4268:         # debug_print('Second closest ang asteroid:')
 4269:         # debug_print(target_asteroids_list[second_least_angular_distance_asteroid_index])
 4270: 
 4271:         # print(f"Bullet should have been fired on simulated timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
 4272: 
 4273:         # The following code is confusing, because we're working with different times.
 4274:         # We need to make sure that when we talk about an asteroid, we talk about its position at a specific time. If the time we talk about is not synced up with the position, everything's wrong.
 4275:         # So if an asteroid is on position 1 at time 1, position 2 at time 2, position 3 at time 3, etc, then we must associate the asteroid with a timestep.
 4276:         # A smarter, less buggy way to store asteroids is to include not only their position, but their timestep as well. But too late.
 4277:         # Timestep [self.initial_timestep + self.future_timesteps] is the current timestep, or the timestep the sim was started on. Future timesteps should be 0 so far since we haven't moved.
 4278:         # Timestep [self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)] gives us the timestep after we do our aiming, and when we shoot our bullet
 4279:         # Timestep [self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid] gives us the timestep the asteroid got hit
 4280: 
+4281:         if actual_asteroid_hit is not None:
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/* … */
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/* … */
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 4285:                 # Added one to the timesteps to prevent off by one :P
 4286:                 #print('WITHHOLDING SHOT IN TARGET SELECTION BECAUSE SCENARIO IS ENDING')
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 4290:         # TODO: This following statement, doesn't this mean if I accidentally hit something in the way that I already shot, then I just won't even try to shoot at all? Even though the bullet should still hit what's behind it some of the time at least?
 4291:         # TODO: Or maybe this case isn't even possible because I do the sim to make sure that I hit whatever I wanted to hit, and if I had a pending shot, that shot would have hit it so this would never happen!
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 4293:             # We can't seem to hit anything on this timestep. Maybe the asteroids are done being shot, or maybe we can't hit them because of the way things are lined up and the bullets skip over the asteroids, idk.
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 4295:             # TODO: This is testing above theory to see if it holds
 4296:             #    assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence), self.game_state, actual_asteroid_hit_when_firing), f"WTH this asteroid: {actual_asteroid_hit_when_firing}, whole freaking dict: {self.asteroids_pending_death}"
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 4298:             # print("We can't hit anything this timestep.")
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/* … */
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/* … */
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+4308:                 idle_thrust = 0.0
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+4312:                 idle_thrust = 0.0
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 4313:             # print(f"Calling update from targ sel:")
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 4315:             # print(f"Sim id {self.sim_id} is returning from target sim with success value {sim_complete_without_crash}")
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+4317:             return sim_complete_without_crash
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 4318:         else:
 4319:             # We're able to hit an asteroid! We're committing to it.
+4320:             assert timesteps_until_bullet_hit_asteroid is not None
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    if (unlikely(__pyx_assertions_enabled())) {
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 4321:             # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit)} on timestep {self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid}")
+4322:             if ENABLE_SANITY_CHECKS:  # REMOVE_FOR_COMPETITION
    __Pyx_GetModuleGlobalName(__pyx_t_24, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS); if (unlikely(!__pyx_t_24)) __PYX_ERR(0, 4322, __pyx_L1_error)
    __Pyx_GOTREF(__pyx_t_24);
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/* … */
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+4323:                 assert check_whether_this_is_a_new_asteroid_for_which_we_do_not_have_a_pending_shot(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid, self.game_state, actual_asteroid_hit)  # REMOVE_FOR_COMPETITION
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 4324:             # print(f"Current timestep: {self.initial_timestep + self.future_timesteps}, and the aiming maneuver is {len(aiming_move_sequence)}")
 4325:             # print(self.asteroids_pending_death)
 4326:             # actual_asteroid_hit_when_firing = time_travel_asteroid(actual_asteroid_hit, len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid, self.game_state)
 4327:             # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_when_firing)} on timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
+4328:             if ENABLE_SANITY_CHECKS:  # REMOVE_FOR_COMPETITION
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/* … */
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+4329:                 assert check_whether_this_is_a_new_asteroid_for_which_we_do_not_have_a_pending_shot(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence), self.game_state, actual_asteroid_hit_when_firing)  # REMOVE_FOR_COMPETITION
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 4330:                 # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1, self.game_state, actual_asteroid_hit_when_firing)
 4331: 
 4332:             # actual_asteroid_hit_UNEXTRAPOLATED = dict(actual_asteroid_hit)
 4333:             # This back-extrapolates the asteroid to when we're firing our bullet
 4334: 
 4335:             #debug_print(f"We used a sim to forecast the asteroid that we'll hit being the one at pos ({actual_asteroid_hit.px}, {actual_asteroid_hit.py}) with vel ({actual_asteroid_hit.vx}, {actual_asteroid_hit.vy}) in {timesteps_until_bullet_hit_asteroid - len(aiming_move_sequence)} timesteps")
 4336:             #debug_print(f"The primitive forecast would have said we'd hit asteroid at pos ({target_asteroid.px}, {target_asteroid.py}) with vel ({target_asteroid.vx}, {target_asteroid.vy}) in {calculate_timesteps_until_bullet_hits_asteroid(target_asteroid_interception_time_s, target_asteroid.radius)} timesteps")
 4337:             # print(self.asteroids_pending_death)
 4338:             # print(f"\nTracking that we just shot at the asteroid {ast_to_string(actual_asteroid_hit)}, our intended target was {target_asteroid}")
 4339:             # actual_asteroid_hit_UNEXTRAPOLATED = extrapolate_asteroid_forward(actual_asteroid_hit, -(len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid), self.game_state, True)
+4340:             actual_asteroid_hit_at_present_time = time_travel_asteroid(actual_asteroid_hit, -timesteps_until_bullet_hit_asteroid, self.game_state)
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+4343:                 self.game_state_plotter.update_plot(None, None, None, None, [actual_asteroid_hit_at_present_time_for_plotting], None, None, None, False, NEW_TARGET_PLOT_PAUSE_TIME_S, 'FEASIBLE TARGETS')  # [dict(a.asteroid) for a in sorted_targets]  # REMOVE_FOR_COMPETITION
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 4344:             # actual_asteroid_hit_tracking_purposes_super_early = extrapolate_asteroid_forward(actual_asteroid_hit, )
 4345:             # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} on timestep {self.initial_timestep + self.future_timesteps}")
 4346:             # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + 0*len(aiming_move_sequence), self.game_state, actual_asteroid_hit_at_present_time)
 4347:             # print(f'\n\nTracking that we shot at the asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} at the timestep after turning {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1}')
 4348:             # print(self.asteroids_pending_death)
 4349:             # debug_print(f"Move seq is len {len(aiming_move_sequence)} and is {aiming_move_sequence}")
 4350:             # debug_print(f"We're in the future by {self.future_timesteps} timesteps")
 4351:             # actual_asteroid_hit_when_firing['trace'] = f"Asteroid added from target selection sim id {self.sim_id}, self.initial_timestep {self.initial_timestep} self.future_timesteps {self.future_timesteps} aiming_move_sequence {aiming_move_sequence}"
 4352: 
 4353:             # debug_print('Were gonna fire the next timestep! Printing out the move sequence:', aiming_move_sequence)
 4354:             # TODO: Currently Neo can't fire on timestep 1! Fix this! Although it's only a minor issue.
+4355:             future_ts_backup = self.future_timesteps
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 4356:             # Forecasted splits get progressed while doing the move sequence which includes rotation, so we need to start the forecast before the rotation even starts
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/* … */
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 4358:                 #print("Calling forecast ast bull splits from targ sel")
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 4360:                 # print(f"In targeting, Forecasted asteroid splits on ts {self.initial_timestep + self.future_timesteps} is {self.forecasted_asteroid_splits}")
+4361:             sim_complete_without_crash = self.apply_move_sequence(aiming_move_sequence)
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+4364:                 self.asteroids_shot += 1
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 4367:                 #if is_close(-10.0, actual_asteroid_hit_when_firing.vx):
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+4369:                 track_asteroid_we_shot_at(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps, self.game_state, timesteps_until_bullet_hit_asteroid - len(aiming_move_sequence), actual_asteroid_hit_when_firing)
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 4373:                 # If we died, we're gonna do a respawn maneuver and we won't shoot because that will remove our 3 second respawn invincibility immediately
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 4664: 
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 4734:         # Simulation order:
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/* … */
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 4794:                             #print(f"SURPRISINGLY WE DON'T HIT ANYTHING LIKE WE THOUGHT WE WOULD!")
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/* … */
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 4813:                             # We can shoot this timestep! Loop through all asteroids and see which asteroids we can feasibly hit if we shoot at this angle, and take those and simulate with the bullet sim to see which we'll hit
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 4851:                                         # We also want to add the surrounding asteroids into the bullet sim, just in case any of them aren't added later in the feasible shots
 4852:                                         # The reasons for them not being added later, is that maybe we already shot at it, so we skipped over it.
 4853:                                         # We should be including all the asteroids we shot at, but unfortunately even including all the asteroids in a cone doesn't guarantee that, so this system still isn't perfect!!
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 4860:                                         # Since we need to find the minimum shot heading errors, we can't break out of this loop early. We should just go through them all.
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/* … */
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 4868:                                             # Regardless of whether our heading is close enough to shooting this asteroid, keep track of this, just in case no asteroids are within shooting range this timestep, but we can begin to turn toward it next timestep!
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/* … */
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 4882:                                                 # If we shoot at our current heading, this asteroid can be hit!
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/* … */
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 4884:                                                     # Only add real asteroids to the set of asteroids we simulate! Don't simulate the asteroids that don't exist yet.
 4885:                                                     #culled_targets_for_simulation.append(asteroid)
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/* … */
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+4888:                                                 feasible_targets_exist = True
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 4889:                                                 #print(f"Adding feasible target idx {ast_idx}, while the max idx for a real ast is {len(self.game_state.asteroids) - 1}")
+4890:                                                 if interception_time > max_interception_time:
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/* … */
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+4891:                                                     max_interception_time = interception_time
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+4892:                                                 check_next_asteroid = True
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+4893:                                                 break
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+4894:                             if feasible_targets_exist:
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/* … */
            }
 4895:                                 #if self.sim_id == 88227:
 4896:                                 #    print(f"Feasible targets exist! {culled_target_idxs_for_simulation=}")
 4897:                                 # Use the bullet sim to confirm that this will hit something
 4898:                                 # There's technically a chance for culled_targets_for_simulation to be empty at this point, if we're purely shooting asteroids that haven't come into existence yet. In that case, this will detect that and will avoid doing the culling, and do the full sim. This should be rare.
 4899:                                 #culled_targets_for_simulation = [asteroid for ast_idx, asteroid in enumerate(self.game_state.asteroids) if ast_idx in culled_target_idxs_for_simulation]
 4900:                                 #print(f"{len(self.game_state.asteroids)=}, {len(culled_target_idxs_for_simulation)=}, ratio={len(self.game_state.asteroids)/len(culled_target_idxs_for_simulation)}")
 4901: 
 4902:                                 '''
 4903:                                 # Convert the list to a set to remove any duplicates
 4904:                                 unique_set = set(culled_target_idxs_for_simulation)
 4905: 
 4906:                                 # Convert the set back to a list
 4907:                                 unique_list = list(unique_set)
 4908: 
 4909:                                 # Sort both lists in ascending order
 4910:                                 unique_list.sort()
 4911: 
 4912:                                 # Verify that both lists are the same and their lengths are the same
 4913:                                 assert culled_target_idxs_for_simulation == unique_list, "Lists are not identical or contain duplicates"
 4914:                                 assert len(culled_target_idxs_for_simulation) == len(unique_list), "List lengths are not equal"
 4915:                                 '''
 4916: 
+4917:                                 culled_targets_for_simulation = [self.game_state.asteroids[ast_idx] for ast_idx in culled_target_idxs_for_simulation]
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 4918:                                 #if not culled_targets_for_simulation:
 4919:                                 #    print("WARNING: culled_targets_for_simulation is empty, so I think this means we're purely shooting at forecasted asteroid splits. Doing the full sim with all the bullets without the culling.")
 4920:                                     #raise Exception()
+4921:                                 bullet_sim_timestep_limit = ceil(max_interception_time*FPS) + 1 # TODO: Might not need +1, but maybe it's safer to have it anyway at the cost of a tiny bit of performance
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 4928:                                         #if self.sim_id == 13939:
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 4934:                                             #print("Calling forecast ast bull splits from maneuver")
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 4936:                                         # The reason we add one to the timestep we track on, is that once we updated the asteroids' position in the update loop, it's technically the asteroid positions in the game state of the next timestep that gets passed to the controllers!
 4937:                                         # So the asteroid positions at a certain timestep is before their positions get updated. After updating, it's the next timestep.
 4938:                                         #if is_close(-10.0, actual_asteroid_hit_at_fire_time.vx):
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 4942:                                         # Added one to the timesteps to prevent off by one :P
 4943:                                         #print(f'WITHHOLDING SHOT BECAUSE SCENARIO IS ENDING, self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid + 1 = {self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid + 1}, {self.game_state.time_limit=}, {FPS*self.game_state.time_limit=}')
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/* … */
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 5266:                             # Ship got hit by mine, RIP
 5267:                             #print(f"Ship got hit by mine in sim, RIP and the ship respawn state is {self.ship_state.is_respawning} with the respawn timer at {self.respawn_timer}")
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 5276:                         # Record the last timestep getting hit by a mine
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 5325:                         # The ship and asteroid are overlapping, while the ship is doing a respawn maneuver.
 5326:                         # We want to track this, so that we can begin to shoot asteroids right after we're no longer overlapping with any, before we finish the respawn maneuver and get a couple more hits in
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 5329:         # Cull asteroids marked for removal
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 5331:             #start_cull_time = time.perf_counter()
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 5336:             # Checking collisions with the other ship isn't a great idea since this isn't 100% sure. This models the other ship as stationary, which probably won't be true, unless their controller is the null controller.
 5337:             '''
 5338:             # Check ship/ship collisions
 5339:             if not self.ship_state.is_respawning:
 5340:                 if ENABLE_ASSERTIONS:
 5341:                     assert return_value is None
 5342:                 if self.get_instantaneous_ship_collision():
 5343:                     print(f"COLLISION WITH OTHER SHIP!!!")
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 5345:                     self.ship_crashed = True
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 5686:         #time.sleep(10)
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 5688:         #    assert self.stationary_targetting_sim_index != INT_NEG_INF or self.game_state_to_base_planning['ship_state'].bullets_remaining == 0 or self.game_state_to_base_planning['respawning'] or not is_close_to_zero(self.game_state_to_base_planning['ship_state'].speed)  # REMOVE_FOR_COMPETITION
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 5710:             # debug_print(f"best_predicted_sim_fire_next_timestep_flag: {best_predicted_sim_fire_next_timestep_flag}, self.game_state_to_base_planning['fire_next_timestep_flag']: {self.game_state_to_base_planning['fire_next_timestep_flag']}")
 5711:             # self.game_state_to_base_planning['fire_next_timestep_flag'] is whether we fire at the BEGINNING of the period, while best_action_sim_predicted.get_fire_next_timestep_flag() is whether we fire AFTER this period
 5712:             # debug_print('DECIDE NEXT ACTION REDO sim ast pending death:')
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 5714:             #print("Doing a best action sim")
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 5736:             #debug_print(f"\nIntended move sequence:")
 5737:             #debug_print(best_action_sim_predicted_move_sequence)
 5738:             #debug_print(f"Actual move sequence:")
 5739:             #debug_print(best_action_sim_actual_move_sequence)
 5740:             #print(f"Applying move sequence for maneuver. Seq is {best_action_sim_predicted_move_sequence}")
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 5742:                 #print("Applying respawning move sequence")
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 5745:                 # This can only be maneuvering, and this gives the freedom to aim and shoot during the maneuver
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 5749:             #print('crashing sim id:', best_action_sim.get_sim_id())
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 5752:             # debug_print(f"\nActual best action first state:", best_action_sim.get_state_sequence()[0])
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 5755:                 # Using the true current state, we see that our best sim's true fitness is lower than what we were expecting.
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 5759:                 #print('Actual base state which is now current:')
 5760:                 #print(game_state)
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 5764:                 #print(best_action_sim.get_ship_state())
 5765:                 #print('But the old sim thought the ship state would be:')
 5766:                 #print(best_action_sim_predicted.get_ship_state())
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 5768:                     # The best action sim's reality is worse than expected. Try our second best as a backup and hopefully this will be better, and go according to plan!
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 5797:                         # print(f"Applying move sequence for maneuver #2, seq is {second_best_action_sim_predicted_move_sequence}")
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 5801:                             # This can only be maneuvering, and this gives the freedom to aim and shoot during the maneuver
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 5839:                 # If we did a respawn maneuver, we still have to run a second pass of it so we can get more shots in at the end, and hopefully eek out a bit more fitness score
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 5865:                 #print(f"First pass fitness: {best_action_sim_respawn_first_pass_fitness}, second pass fitness: {best_action_fitness}, first pass breakdown: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['fitness_breakdown']}, second pass breakdown: {best_action_fitness_breakdown}")  # REMOVE_FOR_COMPETITION
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 5880:             # This is either a heuristic or random maneuver
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 5908:                 # We're gonna die. Force select the one where I stay put and accept my fate, and don't even begin a maneuver.
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 5910:                 #print('IT LOOKS LIKE THIS NEW ACTION WE ARE DOING ENDS IN DEATH!!!')
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 5949:         # end_state = sim_ship.get_state_sequence()[-1]
 5950:         #assert self.stationary_targetting_sim_index is not None
 5951:         #print(f"Maneuver fitness: {best_action_fitness}, stationary fitness: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness']} stationary fitness breakdown: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness_breakdown']}")
 5952:         # print('state seq:', best_action_sim_state_sequence)
 5953:         # debug_print('Best move seq:', best_move_sequence)
 5954:         # debug_print(f"Best sim index: {self.best_fitness_this_planning_period_index}")
 5955:         # debug_print(f"Choosing action: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']} with fitness {best_action_fitness} {best_action_fitness_breakdown}")
 5956:         # print('all sims this planning period:')
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/* … */
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+5960:         best_action_sim_last_state = best_action_sim_state_sequence[-1]
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 5961:         # Prune out the list of asteroids we shot at if the timestep (key) is in the past
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 5963:         # debug_print(f"Timesteps in asteroids pending death: {[timestep for timestep in asteroids_pending_death.keys()]}")
 5964:         #print(f"Size of asts pending death: {sys.getsizeof()}")
 5965:         #global asteroids_pending_death_total_cull_time
 5966:         #start_time = time.perf_counter()
 5967:         #asteroids_pending_death = {timestep: asteroids for timestep, asteroids in asteroids_pending_death.items() if timestep >= best_action_sim_last_state.timestep}
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+5969:             if timestep in asteroids_pending_death:
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 5971:         #asteroids_pending_death_total_cull_time += time.perf_counter() - start_time
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+5973:         next_base_game_state = best_action_sim.get_game_state()
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 5974:         #print(f"Ast pending death keys: {asteroids_pending_death.keys()}")
 5975:         # Made this change, because if we're waiting out mines, that'll mess up the game state. But the state sequence still has the last actual game state, so we'll use that!
 5976:         # next_base_game_state = best_action_sim_last_state['game_state']
 5977:         # print(f'\nNext base game state for timestep {best_action_sim_last_state["timestep"]}:')
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 5981:         # print(f"Firing next ts status is: {new_fire_next_timestep_flag}")
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/* … */
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 5983:             # print(f"Forcing off the fire next timestep, because we just took damage")
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/* … */
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 5986:             # If our ship is hurt in our next next action and I haven't done a respawn maneuver yet (in this situation, the next next action is a respawn maneuver)  # REMOVE_FOR_COMPETITION
 5987:             # Then I assert that our next action is not a respawning action, AND we're not firing at the start of the next next action  # REMOVE_FOR_COMPETITION
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/* … */
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+5989:                 print(f"We haven't done a respawn maneuver for having {new_ship_state.lives_remaining} lives left")  # REMOVE_FOR_COMPETITION
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 5991:             # assert not (self.game_state_to_base_planning['respawning'] or new_fire_next_timestep_flag)  # REMOVE_FOR_COMPETITION
 5992:         # print(f"{new_ship_state.lives_remaining=}, {str(self.lives_remaining_that_we_did_respawn_maneuver_for)=}, {new_ship_state.is_respawning=}")
 5993:         # debug_print(f"Deciding next action on ts {self.current_timestep}! The new planning ship speed is {new_ship_state.speed} and the move sequence we're executing is REDACTED best_move_sequence, type is {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']}")
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/* … */
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 6016:             # print(f"Adding to lives remaining that we did respawn for, in decide next action: {new_ship_state.lives_remaining}")
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 6065:         # gc.disable()
 6066:         # Simulate and look for a good move
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 6069:         # If we stay still, we can potentially keep shooting asteroids that are on collision course with us without having to move
 6070:         # But if we're overwhelmed, it may be a lot better to move to a safer spot
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 6072:         # Our number one priority is to stay alive. Second priority is to shoot as much as possible. And if we can, lay mines without putting ourselves in danger.
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 6077:             #print("Planning respawn maneuver")
 6078:             # Simulate and look for a good move
 6079:             # print(f"Checking for imminent danger. We're currently at position {ship_state.px} {ship_state.py}")
 6080:             # print(f"Current ship location: {ship_state.px}, {ship_state.py}, ship heading: {ship_state.heading}")
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 6085:             # print(f"Respawn maneuver max length: {ship_random_max_maneuver_length}s")
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 6151:                     # The ship went through all the steps without colliding
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+6205:                 stationary_targetting_sim.target_selection()
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 6206:                 #print('\nstationary targetting sim move seq')
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 6208: 
+6209:                 best_stationary_targetting_fitness = stationary_targetting_sim.get_fitness()
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+6210:                 if len(self.sims_this_planning_period) == 0:
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/* … */
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/* … */
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 6212:                         # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6213:                         assert self.game_state_to_base_planning['fire_next_timestep_flag']  # REMOVE_FOR_COMPETITION
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+6214:                         self.game_state_to_base_planning['fire_next_timestep_flag'] = False
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 6215: 
+6216:                 self.sims_this_planning_period.append({
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+6217:                     'sim': stationary_targetting_sim,
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+6218:                     'fitness': best_stationary_targetting_fitness,
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+6219:                     'fitness_breakdown': stationary_targetting_sim.get_fitness_breakdown(),
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 6220:                     'action_type': 'targetting',
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+6222:                     'maneuver_tuple': None,
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 6223:                 })
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+6225:                 if best_stationary_targetting_fitness > self.best_fitness_this_planning_period:
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/* … */
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+6226:                     self.second_best_fitness_this_planning_period = self.best_fitness_this_planning_period
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+6227:                     self.second_best_fitness_this_planning_period_index = self.best_fitness_this_planning_period_index
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 6228: 
+6229:                     self.best_fitness_this_planning_period = best_stationary_targetting_fitness
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+6230:                     self.best_fitness_this_planning_period_index = self.stationary_targetting_sim_index
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 6231: 
 6232:                 # debug_print(f"Planning targetting, and got fitness {best_stationary_targetting_fitness}")
+6233:             if plan_stationary and not ship_is_stationary:  # REMOVE_FOR_COMPETITION
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/* … */
    }
+6234:                 print(f"\nWARNING: The ship wasn't stationary after the last maneuver, so we're skipping stationary targeting! Our planning period starts on ts {self.game_state_to_base_planning['timestep']}")  # REMOVE_FOR_COMPETITION
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 6235:             # Try moving! Run a simulation and find a course of action to put me to safety
 6236:             '''
 6237:             if other_ships_exist:
 6238:                 if isinf(self.best_fitness_this_planning_period):
 6239:                     # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
 6240:                     search_iterations = 2
 6241:                 elif self.best_fitness_this_planning_period > 0.9:
 6242:                     search_iterations = 1
 6243:                 elif self.best_fitness_this_planning_period > 0.8:
 6244:                     search_iterations = 1
 6245:                 elif self.best_fitness_this_planning_period > 0.7:
 6246:                     search_iterations = 2
 6247:                 elif self.best_fitness_this_planning_period > 0.6:
 6248:                     search_iterations = 3
 6249:                 elif self.best_fitness_this_planning_period > 0.5:
 6250:                     search_iterations = 4
 6251:                 elif self.best_fitness_this_planning_period > 0.4:
 6252:                     search_iterations = 5
 6253:                 else:
 6254:                     search_iterations = 6
 6255:             else:
 6256:                 if isinf(self.best_fitness_this_planning_period) and self.game_state_to_base_planning['ship_state'].bullets_remaining != 0:
 6257:                     raise Exception("If there's no ships, why don't we have any sims this planning period yet? We should have done stationary first.")
 6258:                     # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
 6259:                     search_iterations = 2
 6260:                 elif self.best_fitness_this_planning_period > 0.9:
 6261:                     search_iterations = 1
 6262:                 elif self.best_fitness_this_planning_period > 0.8:
 6263:                     search_iterations = 1
 6264:                 elif self.best_fitness_this_planning_period > 0.7:
 6265:                     search_iterations = 2
 6266:                 elif self.best_fitness_this_planning_period > 0.6:
 6267:                     search_iterations = 3
 6268:                 elif self.best_fitness_this_planning_period > 0.5:
 6269:                     search_iterations = 4
 6270:                 elif self.best_fitness_this_planning_period > 0.4:
 6271:                     search_iterations = 5
 6272:                 else:
 6273:                     search_iterations = 6
 6274:             '''
 6275: 
 6276:             '''
 6277:             if iterations_boost:
 6278:                 search_iterations = min(80, (search_iterations + 1)*10)
 6279: 
 6280:             if self.game_state_to_base_planning['ship_state'].lives_remaining == 1:
 6281:                 # When down to our last life, try twice as hard to survive
 6282:                 search_iterations *= 2
 6283:             elif self.game_state_to_base_planning['ship_state'].lives_remaining == 2:
 6284:                 search_iterations = floor(search_iterations*1.5)
 6285:             '''
+6286:             if (len(self.sims_this_planning_period) == 0 or (len(self.sims_this_planning_period) == 1 and self.sims_this_planning_period[0]['action_type'] != 'heuristic_maneuver')) and ship_is_stationary:
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 6302:                 # We're probably within the radius of a mine we placed
+6303:                 print_explanation("We're probably within the radius of a mine we placed! Biasing faster/longer moves to be more likely to escape the mine.", self.current_timestep)
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+6306:                 max_pre_maneuver_turn_timesteps = 10.0
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 6309:                 #ship_cruise_speed_mode = NAN
 6310:                 #ship_cruise_timesteps_mode = NAN
 6311:                 #global total_abs_cruise_speed, total_cruise_timesteps, total_maneuvers_to_learn_from
 6312:                 #ship_cruise_speed_mode = total_abs_cruise_speed/total_maneuvers_to_learn_from
 6313:                 #ship_cruise_timesteps_mode = total_cruise_timesteps/total_maneuvers_to_learn_from
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 6317:             '''
 6318:             if nearby_asteroid_count > 15:
 6319:                 # Many nearby asteroids
 6320:                 if nearby_asteroid_average_speed > 100:
 6321:                     # Fast asteroids
 6322:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.25
 6323:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.15
 6324:                 elif nearby_asteroid_average_speed > 50:
 6325:                     # Medium asteroids
 6326:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.18
 6327:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.1
 6328:                 else:
 6329:                     # Slow asteroids
 6330:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.0
 6331:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.0
 6332:             elif nearby_asteroid_count > 5:
 6333:                 # Some nearby asteroids
 6334:                 if nearby_asteroid_average_speed > 100:
 6335:                     # Fast asteroids
 6336:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
 6337:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
 6338:                 elif nearby_asteroid_average_speed > 50:
 6339:                     # Medium asteroids
 6340:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
 6341:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.28
 6342:                 else:
 6343:                     # Slow asteroids
 6344:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
 6345:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.25
 6346:             else:
 6347:                 # Few nearby asteroids
 6348:                 if nearby_asteroid_average_speed > 100:
 6349:                     # Fast asteroids
 6350:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
 6351:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
 6352:                 elif nearby_asteroid_average_speed > 50:
 6353:                     # Medium asteroids
 6354:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.37
 6355:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
 6356:                 else:
 6357:                     # Slow asteroids
 6358:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.25
 6359:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
 6360:             '''
 6361:             # print(f"Nearby asteroids count is {nearby_asteroid_count}, average speed of asts is {nearby_asteroid_average_speed}, avg directional speed is {average_directional_speed}, so therefore I'm picking ship cruise timesteps mode to be {ship_cruise_timesteps_mode} and ship speed mode of {ship_cruise_speed_mode}")
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 6393:                     '''
 6394:                     random_ship_heading_angle = random.triangular(-6.0*10.0, 6.0*10.0, 0)
 6395:                     ship_accel_turn_rate = random.triangular(0, SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)*(2.0*float(random.getrandbits(1)) - 1.0)
 6396:                     #random_ship_cruise_speed = random.uniform(-ship_max_speed, ship_max_speed)
 6397:                     ship_cruise_speed = random.uniform(-SHIP_MAX_SPEED, SHIP_MAX_SPEED)#random.triangular(0, SHIP_MAX_SPEED, SHIP_MAX_SPEED)*(2.0*float(random.getrandbits(1)) - 1.0)
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 6400:                     #ship_cruise_timesteps = random.randint(1, round(max_cruise_seconds*FPS))
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 6404:                 # First do a dummy simulation just to go through the motion, so we have the list of moves
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      __pyx_t_20 = 0;
 6421:                 # While evaluating, the simulation is advancing, and if it crashes, then it'll evaluate to false and stop the sim.
 6422:                 #print(preview_move_sequence)
 6423:                 #if maneuver_sim.get_sim_id() == 333:
 6424:                 #    print('\ncalling sim maneuver in plan maneuver')
+6425:                 if maneuver_sim.simulate_maneuver(preview_move_sequence, True, True):
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 6426:                     # The ship went through all the steps without colliding
 6427:                     #pre_fitness = maneuver_sim.get_fitness()
 6428:                     #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
 6429:                     #if maneuver_sim.get_sim_id() == 333:
 6430:                     #    print(f"After sim maneuver in plan maneuver, The ship went through all the steps without colliding and lasted {len(maneuver_sim.get_state_sequence())}")
 6431:                     # maneuver_complete_without_crash = True
 6432:                     pass
 6433:                 else:
 6434:                     # The ship crashed somewhere before reaching the final resting spot
 6435:                     #pre_fitness = maneuver_sim.get_fitness()
 6436:                     #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
 6437:                     #if maneuver_sim.get_sim_id() == 333:
 6438:                     #    print(f"After sim maneuver in plan maneuver, The ship crashed somewhere before reaching the final resting spot and only lasted {len(maneuver_sim.get_state_sequence())}")
 6439:                     # maneuver_complete_without_crash = False
+6440:                     pass
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      }
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 6441:                 # print(f"Maneuver completed without crash: {maneuver_complete_without_crash}")
+6442:                 maneuver_fitness = maneuver_sim.get_fitness()
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 6443:                 #print(f"Maneuver fitness: {maneuver_fitness}, maneuver tuple: {random_ship_heading_angle=} {ship_cruise_speed=} {ship_accel_turn_rate=} {ship_cruise_timesteps=} {ship_cruise_turn_rate=}")
+6444:                 maneuver_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
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 6445:                 #post_fitness = maneuver_sim.get_fitness()
 6446:                 #print(f"{pre_fitness=} {pre_fitness_breakdown=}, {maneuver_fitness=} {maneuver_fitness_breakdown=}, {post_fitness=}")
+6447:                 if len(self.sims_this_planning_period) == 0:
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/* … */
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+6448:                     if maneuver_sim.get_cancel_firing_first_timestep():
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/* … */
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 6449:                         # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6450:                         assert self.game_state_to_base_planning['fire_next_timestep_flag']  # REMOVE_FOR_COMPETITION
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+6451:                         self.game_state_to_base_planning['fire_next_timestep_flag'] = False
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 6452:                 '''
 6453:                 global heuristic_fis_iterations
 6454:                 global heuristic_fis_total_fitness
 6455:                 global random_search_iterations
 6456:                 global random_search_total_fitness
 6457:                 if heuristic_maneuver:
 6458:                     heuristic_fis_iterations += 1
 6459:                     heuristic_fis_total_fitness += maneuver_fitness
 6460:                 else:
 6461:                     random_search_iterations += 1
 6462:                     random_search_total_fitness += maneuver_fitness
 6463:                 '''
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+6465:                 self.sims_this_planning_period.append({
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+6466:                     'sim': maneuver_sim,
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+6467:                     'fitness': maneuver_fitness,
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+6468:                     'fitness_breakdown': maneuver_fitness_breakdown,
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+6470:                     'state_type': state_type,
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+6471:                     'maneuver_tuple': (random_ship_heading_angle, ship_cruise_speed, ship_accel_turn_rate, ship_cruise_timesteps, ship_cruise_turn_rate)
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 6472:                 })
 6473:                 # if heuristic_maneuver:
 6474:                 #    debug_print(f"Heuristic maneuver got fitness of {maneuver_fitness}")
 6475:                 # debug_print(f"Planning random maneuver, and got fitness {maneuver_fitness}")
+6476:                 if maneuver_fitness > self.best_fitness_this_planning_period:
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/* … */
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+6477:                     self.second_best_fitness_this_planning_period = self.best_fitness_this_planning_period
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+6478:                     self.second_best_fitness_this_planning_period_index = self.best_fitness_this_planning_period_index
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 6479: 
+6480:                     self.best_fitness_this_planning_period = maneuver_fitness
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+6481:                     self.best_fitness_this_planning_period_index = len(self.sims_this_planning_period) - 1
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+6482:                 if heuristic_maneuver:
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/* … */
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 6483:                     # Make sure we don't do any more than one heuristic maneuver!
+6484:                     heuristic_maneuver = False
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 6485: 
+6486:     def actions(self, ship_state_dict: dict[str, Any], game_state_dict: dict[str, Any] | immutabledict[str, Any]) -> tuple[float, float, bool, bool]:
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/* … */
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+6522:             self.finish_init(game_state, ship_state)
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+6527:             iterations_boost = True
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 6529:             # We cannot use deterministic mode to plan ahead
 6530:             # We can still try to plan ahead, but we need to compare the predicted state with the actual state
 6531:             # Note that if the other ship dies, then we will switch from this case to the case where other ships don't exist
 6532: 
 6533:             # Since other ships exist right now and the game isn't deterministic, we can die at any time even during the middle of a planned maneuver where we SHOULD survive.
 6534:             # Or maybe we planned to die at the end of the maneuver, but we died in the middle instead. That's a sneaky case that's possible too. Handle all of these!
 6535:             # Check for that case:
+6536:             unexpected_death = False
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 6537:             # If we're dead/respawning but we didn't plan a respawn maneuver for it, OR if we do expect to die at the end of the maneuver, however we actually died mid-maneuver
 6538:             #print(f"{ship_state.is_respawning=}, ts: {self.current_timestep}, Action queue length: {len(self.action_queue)}")
 6539:             # Originally I thought it'd be a necessary condition to check (not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) however WE DO NOT want to check that the last timestep we weren't respawning!
 6540:             # Because a sneaky edge case is, what if we did a respawn maneuver, and then we began to shoot in the middle of the respawn maneuver RIGHT AS the other ship is inside of us? Then we stay in the respawning state without ever getting out of it, but we just lose a life. Losing a life is the main thing we need to check for! And yes, this is an edge case I experienced and spent an hour tracking down.
+6541:             if (ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) or (self.action_queue and not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for):
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/* … */
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+6542:                 print_explanation(f"Ouch, I died in the middle of a maneuver where I expected to survive, due to other ships being present!", self.current_timestep)
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 6543:                 #debug_print(f"I have {ship_state.lives_remaining} lives left, and here's the set of lives left we did respawn maneuvers for: {self.lives_remaining_that_we_did_respawn_maneuver_for}")  # REMOVE_FOR_COMPETITION
 6544:                 # Clear the move queue, since previous moves have been invalidated by us taking damage
+6545:                 self.action_queue.clear()
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+6546:                 self.actioned_timesteps.clear()  # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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+6547:                 self.fire_next_timestep_flag = False  # If we were planning on shooting this timestep but we unexpectedly got hit, DO NOT SHOOT! Actually even if we didn't reset this variable here, we'd only shoot after the respawn maneuver is done and then we'd miss a shot. And yes that was a bug that I fixed lmao
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 6548:                 # self.game_state_to_base_planning = None
+6549:                 self.sims_this_planning_period.clear()
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+6550:                 self.best_fitness_this_planning_period_index = INT_NEG_INF
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+6551:                 self.best_fitness_this_planning_period = -INFINITY
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+6552:                 self.second_best_fitness_this_planning_period_index = INT_NEG_INF
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+6553:                 self.second_best_fitness_this_planning_period = -INFINITY
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+6555:                 unexpected_death = True
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+6556:                 iterations_boost = True
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+6557:                 if ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for:
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/* … */
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 6558:                     # We expected to die at the end of the maneuver, however we actually died mid-maneuver, so we have to revoke the respawn maneuver we had planned, and plan a new one.
 6559:                     # Removing the life remaining number from this set will allow us to plan a new maneuver for this number of lives remaining
 6560:                     #debug_print("GOTCHA, this life remaining shouldn't be in here! Yoink!")  # REMOVE_FOR_COMPETITION
+6561:                     self.lives_remaining_that_we_did_respawn_maneuver_for.remove(ship_state.lives_remaining)
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 6563:             # If we're alive at the end of a maneuver but we're expecting to be dead at the end of the maneuver and we've planned a respawn maneuver
 6564:             #if self.game_state_to_base_planning is not None:
 6565:             #    print(f"Checking for unexpected survival: {ship_state.is_respawning=} {self.game_state_to_base_planning['ship_state'].is_respawning=} {self.game_state_to_base_planning['respawning']=}")
+6566:             if not self.action_queue and self.game_state_to_base_planning is not None and not ship_state.is_respawning and self.game_state_to_base_planning['ship_state'].is_respawning and self.game_state_to_base_planning['respawning']:
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/* … */
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 6567:                 # We thought this maneuver would end in us dying, with the next move being a respawn maneuver. However this is not the case. We're alive at the end of the maneuver! This must be because the other ship saved us by shooting an asteroid that was going to hit us, or something.
 6568:                 # This assertion isn't true because we could be doing a respawn maneuver, dying, and doing another respawn maneuver!
 6569:                 # assert not self.last_timestep_ship_is_respawning
+6570:                 print_explanation(f"\nI thought I would die, but the other ship saved me!!!", self.current_timestep)
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 6571:                 # Clear the move queue, since previous moves have been invalidated by us taking damage
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+6573:                 self.actioned_timesteps.clear()  # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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 6575:                 # self.game_state_to_base_planning = None
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+6578:                 self.best_fitness_this_planning_period = -INFINITY
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 6584:                 # Yoink this life remaining from the respawn maneuvers, since we no longer are doing one
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/* … */
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 6586:                     # We need to subtract one from the lives remaining, because when we added it, it was from a simulated ship that had one fewer life. In reality we never lost that life, so we subtract one from our actual lives.
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 6588:             # set up the actions planning
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/* … */
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 6590:                 # We need to refresh the state if we died unexpectedly
+6591:                 print_explanation(f"Ouch! Due to the other ship, I unexpectedly died!", self.current_timestep)
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+6592:                 if self.game_state_to_base_planning is None:
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/* … */
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 6663:             else:
 6664:                 # Refresh the base state now that we have the true base state!
 6665:                 # debug_print('REFRESHING BASE STATE FOR STATIONARY ON TS', self.current_timestep)
+6666:                 self.game_state_to_base_planning['ship_state'] = ship_state
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+6667:                 self.game_state_to_base_planning['game_state'] = game_state
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 6669:                     # We're not respawning but the ship respawn timer is non-zero, so we're gonna fix this and make it consistent!
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+6671:                 assert bool(self.game_state_to_base_planning['ship_respawn_timer']) == self.game_state_to_base_planning['ship_state'].is_respawning, f"Mismatch: {self.game_state_to_base_planning['ship_respawn_timer']=}, {self.game_state_to_base_planning['ship_state'].is_respawning=}"  # REMOVE_FOR_COMPETITION
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 6672:                 # When there's other ships, stationary targetting is the LAST thing done, just so it can be based off of the reality state
 6673:                 # The base state is exact on the final planning timestep, since the base state is the state we're on right now
 6674:                 # if len(get_other_ships(game_state, self.ship_id_internal)) == 0:
 6675:                 #    debug_print("\n\nWe're alone already. Injecting the following game state:")
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/* … */
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 6700:                     # The other ship just died. I'm now alone!
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 6705:         else:
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/* … */
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/* … */
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 6710:                     #assert self.current_timestep == 0, "Why is the game state to plan empty when we're not on timestep 0?!"  # REMOVE_FOR_COMPETITION
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/* … */
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/* … */
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 6823: 
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+6825:     print("This is a Kessler controller meant to be imported, and not run directly!")
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